JP2018114278A - Fall-while-walking prevention device, fall-while-walking prevention device controller and control method, and fall-while-walking prevention device control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control a walking fall prevention device and a walking fall prevention device capable of preventing a user from falling to the left side or falling to the right side while walking, unlike a conventional assist device worn by a user to assist the user's walking. A device and a control method, and a control program for a walking fall prevention device are provided. SOLUTION: At least one of first and second assist wears 2a, 2b, 2c that can be worn by a user based on the user information of the user himself / herself acquired by the input interface unit 200 and the walking information of the walking motion of the user 100. Corresponds to the first and third actuators 10h, 10f, 11h, 11f and the right side of the hip or ankle of the leg, which are placed on the hip joint of the leg or the part corresponding to the left side of the ankle and expand and contract by adjusting the fluid. The left side surface of the hip joint or ankle by independently controlling the fluid supply amount of each of the second and fourth actuators 10e, 10g, 11e, 11g which are arranged in the part where the fluid is adjusted and expand and contract by adjusting the fluid. The rigidity to be transmitted to the right side surface and the right side surface is changed by the rigidity control unit 24. [Selection diagram] Fig. 1

Description

  The present invention relates to a walking fall prevention device that prevents a user from falling to the left side or falling to the right side when assisting a walking motion when worn by the user, a control device and a control method for a walking fall prevention device, and a walking fall prevention The present invention relates to a device control program.

  In recent years, devices called assist devices worn by humans have been actively developed for the purpose of power assist, operation assistance for the elderly or disabled, or rehabilitation support. Since these devices operate by being worn by a person, an operation method having high affinity with the person is required. In general, it is known that when a person moves a joint, the joint torque necessary for the movement is generated, and at the same time, the stiffness is changed by the antagonistic muscles. Therefore, a method using a member capable of appropriately setting rigidity to be transmitted to the human body is known as an operation method having high affinity with a person (see, for example, Patent Documents 1 and 2).

JP-A-2015-2970 Japanese Patent No. 5255553

  Especially when wearing a person to assist walking, in order for the person to continue walking safely, not only the front-rear direction, which is the direction of walking, but also the person's lateral direction, that is, the person's left and right falls can be prevented. desirable.

  However, in a general assist device, only the assist method in the front-rear direction is often considered in the direction that requires assist, that is, in the case of walking.

  An object of the present invention is to solve the above-described conventional problems, and to prevent a user from falling to the left and falling to the right while walking, a walking and falling prevention device, a control device and a control method for a walking and falling prevention device, and walking The object is to provide a control program for a fall prevention device.

  In order to achieve the above object, the aspect of the present invention is configured as follows.

According to one aspect of the present invention, there is provided a walking and falling prevention device that prevents a user from falling during walking.
An assist mechanism;
A control device for controlling the operation of the assist mechanism,
The assist mechanism is
First assist wear comprising a waist belt fixed to the user's waist and an upper knee belt fixed to the upper knee;
Second assist wear comprising an ankle upper belt fixed to the user's upper ankle and an ankle lower belt fixed to the lower ankle;
It is arranged at the portion corresponding to the left side of the hip joint (for example, each thigh) of each leg of the user, and is connected to the ends of the waist belt and the above-knee belt, and expands and contracts by adjusting the fluid. A first actuator;
It is arranged at a portion corresponding to the right side surface of the hip joint (for example, each thigh) of each leg, and is connected to ends of the waist belt and the above-knee belt, and expands and contracts by adjusting fluid. Two actuators;
A third actuator disposed at a portion corresponding to the left side surface of the ankle of each leg, connected to ends of the upper ankle belt and the lower ankle belt, and expands and contracts by adjusting fluid;
A fourth actuator disposed at a portion corresponding to the right side surface of the ankle of each leg, connected to ends of the ankle upper belt and the ankle lower belt, and extending and contracting by adjusting fluid;
The controller is
An input interface unit for acquiring user information of the user and walking information of the user's walking motion;
Based on the user information acquired by the input interface unit and the walking information, the first to fourth actuators are independently controlled to control the supply amount of the respective fluids, whereby the hip joint or the ankle A rigidity control unit that controls to change the direction, that is, the rigidity (for example, the rigidity target value) in the left side surface and the right side surface,
A device for preventing walking from falling is provided.

  These comprehensive or specific aspects may be realized by a system, a method, an integrated circuit, a computer program, or a computer-readable recording medium, and an apparatus, a system, a method, an integrated circuit, a computer program, and a computer-readable medium. You may implement | achieve with arbitrary combinations of a recording medium. The computer-readable recording medium includes a non-volatile recording medium such as a CD-ROM (Compact Disc-Read Only Memory).

  According to the aspect of the present invention, it is possible to prevent the user who is walking from falling to the left side or falling to the right side based on the user information and the walking information. The user can be prevented from falling to the left side or falling to the right side while walking. Additional benefits and advantages of one aspect of the present disclosure will become apparent from the specification and drawings. This benefit and / or advantage may be provided individually by the various aspects and features disclosed in the specification and drawings, and not all are required to obtain one or more thereof.

The figure which shows arrangement | positioning of the actuator of the assist pants of the walking fall prevention apparatus in embodiment of this invention. The block diagram which shows the control apparatus and control object of the walking fall prevention apparatus in embodiment of this invention. The figure which shows the structure and operation | movement of a pneumatic actuator which is an example of the elastic body actuator in embodiment. The figure which shows an example of the display of the touchscreen which is an example of the user information input part in embodiment of this invention. The figure which shows an example of arrangement | positioning of the foot sensor in embodiment of this invention. The figure which shows the walk cycle in embodiment of this invention. The figure which shows an example of operation | movement of the fatigue estimation part in embodiment of this invention. The perspective view which shows the frontal face and sagittal surface in a user's body. The figure which shows an example of operation | movement of the assist intensity | strength determination part in embodiment of this invention. The figure which shows an example of operation | movement of the assist intensity | strength determination part in embodiment of this invention. The figure which shows an example of operation | movement of the assist intensity | strength determination part in embodiment of this invention. The figure which shows an example of operation | movement of the assist intensity | strength determination part in embodiment of this invention. The figure which shows an example of operation | movement of the assist intensity | strength determination part in embodiment of this invention. The figure which shows an example of operation | movement of the timing discrimination | determination part in embodiment of this invention. The figure which shows an example of operation | movement of the rigidity target value output part in embodiment of this invention. The figure which shows an example of the rigidity target value determination result in embodiment of this invention. The figure which shows arrangement | positioning of the pneumatic actuator in embodiment of this invention. The figure which shows an example of the timing chart of the target elastic modulus of each actuator in embodiment of this invention. The figure which shows the positional relationship of the pneumatic actuator in embodiment of this invention. The figure which shows the outline | summary of the assist system in embodiment of this invention. The figure which shows arrangement | positioning of the actuator in the assist pants in embodiment of this invention. The figure which shows an example of the torque of the hip joint and the ankle joint in embodiment of this invention.

  Embodiments according to the present invention will be described below in detail with reference to the drawings.

  DESCRIPTION OF EMBODIMENTS Hereinafter, various embodiments of the present invention will be described before detailed description of embodiments of the present invention with reference to the drawings.

According to the first aspect of the present invention, there is provided a walking and falling prevention device for preventing a user from falling during walking,
An assist mechanism;
A control device for controlling the operation of the assist mechanism,
The assist mechanism is
First assist wear comprising a waist belt fixed to the user's waist and an upper knee belt fixed to the upper knee;
Second assist wear comprising an ankle upper belt fixed to the user's upper ankle and an ankle lower belt fixed to the lower ankle;
It is arranged at the portion corresponding to the left side of the hip joint (for example, each thigh) of each leg of the user, and is connected to the ends of the waist belt and the above-knee belt, and expands and contracts by adjusting the fluid. A first actuator;
It is arranged at a portion corresponding to the right side surface of the hip joint (for example, each thigh) of each leg, and is connected to ends of the waist belt and the above-knee belt, and expands and contracts by adjusting fluid. Two actuators;
A third actuator disposed at a portion corresponding to the left side surface of the ankle of each leg, connected to ends of the upper ankle belt and the lower ankle belt, and expands and contracts by adjusting fluid;
A fourth actuator disposed at a portion corresponding to the right side surface of the ankle of each leg, connected to ends of the ankle upper belt and the ankle lower belt, and extending and contracting by adjusting fluid;
The controller is
An input interface unit for acquiring user information of the user and walking information of the user's walking motion;
Based on the user information acquired by the input interface unit and the walking information, the first to fourth actuators are independently controlled to control the supply amount of the respective fluids, whereby the hip joint or the ankle Direction, i.e., a rigidity control unit that controls to change the rigidity on the left side and the right side,
A device for preventing walking from falling is provided.

  According to the first aspect, the user can be prevented from falling to the left or to the right based on the user information and the walking information.

According to the second aspect of the present invention, each of the first to fourth actuators is a tubular elastic body having a hollow,
The tubular elastic body expands and contracts by adjusting the fluid supplied into the hollow by the rigidity control unit,
The rigidity of the tubular elastic body is changed by controlling the supply amount of the fluid supplied into the hollow by the rigidity controller.
A walking and tipping prevention device according to the first aspect is provided.

According to the third aspect of the present invention, the tubular elastic body is expanded by pressurizing the fluid supplied into the hollow by the rigidity control unit, and the fluid supplied into the hollow is decompressed. To shrink the tubular elastic body,
The rigidity of the tubular elastic body is increased by maintaining the supply amount of the fluid supplied into the hollow by the rigidity control unit at a predetermined value or more,
The rigidity of the tubular elastic body is reduced by reducing the supply amount of the fluid supplied into the hollow by the rigidity control unit to be less than the predetermined value.
A walking and tipping preventing device according to a second aspect is provided.

According to the fourth aspect of the present invention, the input interface unit may use, as the user information, any one of the age of the user, the state of injury of the leg of the user, and the fatigue state of the user. A user information input unit to acquire,
In the user information acquired by the user information input unit, the rigidity control unit changes the rigidity of the left side surface and the right side surface so as to increase as the age of the user increases. If there is, change to increase the rigidity on the left side and the right side, and increase the rigidity on the left side and the right side as the fatigue state of the user increases. Control,
A walking and tipping preventing device according to any one of the first to third aspects is provided.

  According to the fourth aspect, it is possible to provide a walking and tipping preventing device that can increase rigidity and enhance the tipping prevention effect when the user is in a state that hinders walking.

According to the fifth aspect of the present invention, the input interface unit includes a walking information acquisition device that acquires information on the walking state of the user as the walking information;
A walking cycle estimation unit that estimates walking cycle information based on the walking information from the walking information acquisition device;
From the walking cycle information that is output from the walking cycle estimation unit and includes the walking time of the user, as an example of the user information, a fatigue level estimation unit that estimates the fatigue level of the user over time,
When the fatigue control unit determines that the walking time of the user is longer than the walking time threshold, the stiffness control unit changes the stiffness on the left side and the right side to increase, and the fatigue If the degree of fatigue of the user estimated by the degree estimation unit is determined to be greater than the threshold for fatigue over time, control is performed so that the rigidity on the left side and the right side is increased. ,
A walking and falling prevention device according to any one of the first to fourth aspects is provided.

  According to the fifth aspect, when it is determined that the walking time is long or fatigue with time is large and the user is in a state of falling easily, the rigidity can be further increased and the fall prevention effect can be enhanced. A device for preventing walking from falling can be provided.

According to a sixth aspect of the present invention, the input interface unit includes a walking information acquisition device that acquires the walking information of the user,
The stiffness control unit controls the timing of changing the stiffness in the left side surface and the right side surface based on the walking information of the user acquired by the walking information acquisition device.
A walking and falling prevention device according to any one of the first to fifth aspects is provided.

  According to the sixth aspect, it is possible to provide a walking fall prevention device that does not hinder normal walking by increasing rigidity at an appropriate timing.

According to a seventh aspect of the present invention, the walking information of the user is walking cycle information of the user,
The stiffness control unit makes the second stiffness value smaller than the first stiffness value based on the walking cycle information of the user, and from the second stiffness value immediately before the leg contacts the ground. Control to increase the rigidity of the left side and the right side by changing the stiffness value to 1.
Here, the first stiffness value is a magnitude of stiffness in the left side surface and the right side surface when the leg of the user is in contact with the grounding surface, and the second stiffness value is The rigidity of the left side and the right side when the user's leg is not in contact with the ground plane.
A walking and tipping preventing device according to a sixth aspect is provided.

  According to the seventh aspect, when the user's leg comes into contact with the grounding surface, it is possible to increase the rigidity of the left side surface and the right side surface immediately before the grounding, thereby providing a fall prevention effect.

According to an eighth aspect of the present invention, the walking information of the user is walking cycle information of the user,
The stiffness control unit controls the stiffness value to be larger than a stiffness value before a certain predetermined period in the swing leg period, based on the walking cycle information of the user, before a predetermined time at the time of expected ground contact. And
A walking and tipping preventing device according to a sixth aspect is provided.

  According to the eighth aspect, when the user's leg is in contact with the grounding surface, it is possible to increase the rigidity of the left side surface and the right side surface immediately before the grounding, thereby providing a fall prevention effect.

According to a ninth aspect of the present invention, the user's walking information is the user's walking cycle information,
The rigidity control unit increases the rigidity of the left side surface and the right side surface from the rigidity value immediately before the leg of the user contacts the ground contact surface, and then based on the walking cycle information of the user. When the user's leg is away from the ground contact surface, control is performed so that the stiffness of the changed left side surface and the right side surface is returned to the stiffness value.
A walking and tipping preventing device according to an eighth aspect is provided.

  According to the ninth aspect, when the user's leg is away from the grounding surface, the rigidity of the left side surface and the right side surface is reduced, so that the movement of the foot joint is not hindered. it can. On the other hand, when the user's leg is in contact with the grounding surface, it is possible to increase the rigidity of the left side surface and the right side surface immediately before the grounding, thereby providing a fall prevention effect.

According to a tenth aspect of the present invention, the assist mechanism further includes:
A fifth actuator of the assist wear that is disposed at a portion corresponding to the hip joint (for example, each thigh) or the front surface of the ankle of at least one leg of the user, and expands and contracts by adjusting fluid;
A sixth actuator that is disposed in a portion of the assist wear corresponding to the hip joint (for example, each thigh) of the leg or the rear surface of the ankle and expands and contracts by adjusting fluid;
The control device controls the supply amounts of the respective fluids independently for the fifth actuator and the sixth actuator based on the user information and the walking information acquired by the input interface unit. By controlling to change the assist force in the front-rear direction of the hip joint or the ankle,
A walking overturn prevention device according to any one of the first to ninth aspects is provided.

  According to the tenth aspect, while the first to fourth actuators prevent the hip joint or the ankle from falling to the left or to the right, the walking assist can be performed by the fifth and sixth actuators. .

According to an eleventh aspect of the present invention, a first assist wear comprising a waist belt fixed to a user's waist and an above-knee belt fixed to an upper knee;
Second assist wear comprising an ankle upper belt fixed to the user's upper ankle and an ankle lower belt fixed to the lower ankle;
It is arranged at a portion corresponding to the left side surface (for example, each thigh) of the hip joint of at least one leg of the user, and is connected to the end portions of the waist belt and the above-knee belt to adjust fluid. A first actuator that expands and contracts by
A second part of the leg corresponding to the right side of the hip joint (for example, each thigh) is connected to the ends of the waist belt and the knee belt and expands and contracts by adjusting fluid. An actuator,
A third actuator disposed at a portion corresponding to a left side surface of the ankle of the leg, connected to ends of the upper ankle belt and the lower ankle belt, and expands and contracts by adjusting fluid;
Assist mechanism comprising a fourth actuator disposed on a portion of the leg corresponding to the right side surface of the ankle and connected to ends of the ankle upper belt and the ankle lower belt and extending and contracting by adjusting fluid. A control device for a walking and falling prevention device that controls the movement of the user and prevents the user from falling when walking.
An input interface unit for acquiring user information of the user and walking information of the user's walking motion;
Based on the user information and the walking information acquired by the input interface unit, the first to fourth actuators are independently controlled to control the amount of fluid supplied to the left side of the hip joint or ankle. A rigidity control unit that controls to change the rigidity of the surface and the right side surface,
Provided is a control device for a walking and tipping prevention device.

  According to the eleventh aspect, in the assist device that is attached to the user and performs walking assist, the user can be prevented from falling to the left side or to the right side while walking based on the user information and the walking information.

According to a twelfth aspect of the present invention, a first assist wear comprising a waist belt fixed to a user's waist and an above-knee belt fixed to an upper knee;
Second assist wear comprising an ankle upper belt fixed to the user's upper ankle and an ankle lower belt fixed to the lower ankle;
It is arranged at a portion corresponding to the left side surface (for example, each thigh) of the hip joint of at least one leg of the user, and is connected to the end portions of the waist belt and the above-knee belt to adjust fluid. A first actuator that expands and contracts by
A second part of the leg corresponding to the right side of the hip joint (for example, each thigh) is connected to the ends of the waist belt and the knee belt and expands and contracts by adjusting fluid. An actuator,
A third actuator disposed at a portion corresponding to a left side surface of the ankle of the leg, connected to ends of the upper ankle belt and the lower ankle belt, and expands and contracts by adjusting fluid;
Assist mechanism comprising a fourth actuator disposed on a portion of the leg corresponding to the right side surface of the ankle and connected to ends of the ankle upper belt and the ankle lower belt and extending and contracting by adjusting fluid. The control method of the walking and falling prevention device for controlling the movement of the user to prevent the user from falling during walking,
Acquiring the user information of the user himself and the walking information of the user's walking motion in the input interface unit,
Based on the user information and the walking information acquired by the input interface unit, the first to fourth actuators are independently controlled to control the amount of fluid supplied to the left side of the hip joint or ankle. The rigidity control unit controls the rigidity of the surface and the right side to be changed.
Provided is a method for controlling a walking and falling prevention device.

  According to the twelfth aspect, in the assist device that is attached to the user and performs walking assist, the user can be prevented from falling to the left side or to the right side while walking based on the user information and the walking information.

According to a thirteenth aspect of the present invention, first assist wear comprising a waist belt fixed to the user's waist and an above-knee belt fixed to the upper knee;
Second assist wear comprising an ankle upper belt fixed to the user's upper ankle and an ankle lower belt fixed to the lower ankle;
It is arranged at a portion corresponding to the left side surface (for example, each thigh) of the hip joint of at least one leg of the user, and is connected to the end portions of the waist belt and the above-knee belt to adjust fluid. A first actuator that expands and contracts by
A second part of the leg corresponding to the right side of the hip joint (for example, each thigh) is connected to the ends of the waist belt and the knee belt and expands and contracts by adjusting fluid. An actuator,
A third actuator disposed at a portion corresponding to a left side surface of the ankle of the leg, connected to ends of the upper ankle belt and the lower ankle belt, and expands and contracts by adjusting fluid;
Assist mechanism comprising a fourth actuator disposed on a portion of the leg corresponding to the right side surface of the ankle and connected to ends of the ankle upper belt and the ankle lower belt and extending and contracting by adjusting fluid. Is a control program for a walking and tipping prevention device that prevents the user from falling when walking.
Computer
An information acquisition unit that acquires the user information of the user and the walking information of the walking motion of the user;
Based on the user information of the user himself / herself acquired by the information acquisition unit and the walking information of the user's walking motion, the first to fourth actuators are controlled independently from each other. Thus, a control program for the walking and tipping prevention device for functioning as a rigidity control unit that controls to change the rigidity of the left side surface and the right side surface of the hip joint or ankle is provided.

  According to the thirteenth aspect, in the assist device that is attached to the user and performs walking assist, the user can be prevented from falling to the left side or to the right side while walking based on the user information and the walking information.

  Embodiments according to the present invention will be described below in detail with reference to the drawings.

(Embodiment)
FIG. 1 is a diagram showing an outline of an assist system 1 as an example of a walking and falling prevention device according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating the control device 3 and the control target of the assist system 1.

  The assist system 1 is a device that prevents the user 100 from overturning while walking, and includes an assist mechanism 2 worn by the user 100 and a control device 3 that controls the operation of the assist mechanism 2.

  The assist mechanism 2 may be assist wear worn on at least a part of the lower body of the user 100, for example, assist pants 2a or assist ankle bands 2b, 2c, or a combination of any of them and assist socks 2j, 2k, or assist pants. 2a, assist ankle bands 2b, 2c and assist socks 2j, 2k, and the like, and an assist pants actuator or an assist ankle band actuator. The assist pants actuator functions as an example of first assist wear, and the assist ankle band actuator functions as an example of second assist wear.

  The assist pants 2a includes an assist pant body 2d that the user 100 detachably attaches to the lower body, a waist belt 4, left and right knee belts 5a and 5b, and at least thigh actuators 10 (10e, 10f, 10g, and 10h). It has. The control device 3 controls the expansion and contraction of each thigh actuator 10 by adjusting the amount of fluid supplied to each thigh actuator 10.

  The waist belt 4 is composed of, for example, a cloth belt fixed to the upper end edge of the assist pants main body 2d, and restrains the waist of the user 100 in a detachable manner. The left and right upper knee belts 5a and 5b are formed of, for example, cloth belts fixed to the left and right lower end edges (hems) of the assist pant body 2d, and detachably restrain the left and right knee portions of the user 100. .

  Each thigh actuator 10 is disposed along the longitudinal direction between the waist belt 4 of the assist pants main body 2d and the left and right knee belts 5a and 5b. Specifically, the thigh actuator 10 includes a thigh actuator 10e on the right side of the right thigh disposed in a portion corresponding to the outer side of the right thigh (right thigh right side surface) of the user 100 in the assist pants body 2d, The thigh actuators 10f and 10g of the right thigh left side and the left thigh right side arranged in the portion corresponding to the inside of the thigh, and the left thigh arranged in the portion corresponding to the left thigh outside (left thigh left side) It consists of a left thigh actuator 10h. The right thigh actuator 10e on the right thigh and the thigh actuator 10g on the right side of the left thigh function as examples of the second actuator, respectively, and the thigh actuator 10f on the left side of the right thigh and the thigh actuator 10h on the left side of the left thigh respectively It functions as an example of one actuator.

  The assist ankle bands 2b and 2c include ankle band main bodies 2g and 2h which are detachably attached to the left and right ankles, left and right ankle upper belts 6a and 6b, ankle lower belts 7a and 7b, and ankles. Actuator 11 (11e, 11f, 11g, 11h) is provided. The control device 3 controls the operation of each ankle actuator 11 independently of the thigh actuator 10.

  The left and right ankle upper belts 6a and 6b are constituted by, for example, cloth belts fixed to upper end edges of the ankle band main bodies 2g and 2h. The ankle lower belts 7a and 7b are constituted by, for example, cloth belts fixed to the lower end edges of the left and right ankles. The left and right ankles of the user 100 are detachably restrained by the left and right ankle upper belts 6a and 6b and the ankle lower belts 7a and 7b.

  Each ankle actuator 11 is disposed along the longitudinal direction between the left and right ankle upper belts 6a and 6b and the ankle lower belts 7a and 7b of the ankle band main bodies 2g and 2h. Specifically, the ankle actuator 11 includes an ankle actuator 11e on the right side of the right foot disposed in a portion corresponding to the side of the right ankle of the user 100, and a right foot left side and a left foot right side disposed in portions corresponding to the insides of both ankles. The ankle actuators 11f and 11g and an ankle actuator 11h on the left side of the left foot arranged at a portion corresponding to the side surface of the left ankle are configured. The right foot ankle actuator 11e and the left foot right ankle actuator 11g each function as an example of the fourth actuator, and the right foot left ankle actuator 11f and the left foot left ankle actuator 11h each function as an example of the third actuator.

  The thigh actuators 10e and 10f on the outside and inside of the right leg are in an antagonistic relationship, and the thigh actuators 10g and 10h on the inside and outside of the left leg are in an antagonistic relationship. Therefore, the fluid supply amount is controlled independently for the outer and inner thigh actuators 10e and 10f by the operation control of the control device 3, and the outer and inner thigh actuators of the right leg of the antagonistic pair. 10e and 10f are driven to pull each other, so that rigidity and right / left torque of the right leg hip joint can be generated in the thigh of the right leg. Further, by controlling the operation of the control device 3, the fluid supply amount is controlled independently for the outer and inner thigh actuators 10g and 10h, and the inner and outer thigh actuators of the left leg of the antagonistic pair By driving 10g and 10h so as to pull each other, rigidity can be generated in the thigh of the left leg and the left and right torques of the left leg hip joint.

  Similarly, the ankle actuator 11 has an antagonistic relationship between the ankle actuators 11e and 11f on the outside and inside of the right foot, and the ankle actuators 11g and 11h on the inside and outside of the left foot have an antagonistic relationship. Therefore, the right ankle actuators 11e and 11f of the antagonistic pair are driven to pull each other by the operation control of the control device 3, so that the right and left torque and rigidity of the right ankle joint can be generated. . Further, the left and right actuators 11g and 11h of the antagonistic pair are driven to pull each other by the operation control of the control device 3, so that the left and right torque and rigidity of the left ankle joint can be generated. .

  Each thigh actuator 10 and each ankle actuator 11 is a pneumatic actuator 80 which is a kind of elastic body actuator, as an example. FIG. 3 shows the structure and operation of the pneumatic actuator 80.

  As shown in FIG. 3, the pneumatic actuator 80 functions as a drive unit made of a rubber material and has a hollow tubular elastic body, that is, it is difficult to extend to the outer surface of the tubular hollow elastic body 81 in terms of material. A deformation direction regulating member 82 knitted in a mesh shape with a resin or metal fiber cord is disposed. The deformation direction restricting member 82 restricts the deformation in the radial direction due to the expansion of the tubular hollow elastic body 81 and converts the deformation into a contraction in the axial direction perpendicular to the radial direction. As a result, the radial deformation due to the contraction of the tubular hollow elastic body 81 is restricted and converted into the expansion of the axial length. Both ends of the tubular hollow elastic body 81 are hermetically sealed with a sealing member 83. A tubular fluid passage member 84 provided in the sealing member 83 at one end of the pneumatic actuator 80 has a fluid flow path through which a compressible fluid such as air passes, and through the fluid passage member 84, The fluid can be injected or poured into the hollow interior of the hollow tubular elastic body 81. A compressible fluid such as air through the fluid passage member 84 is supplied to the hollow tubular elastic body 81. The fluid passage member 84 may be provided at both ends of the sealing member 83 of the pneumatic actuator 80, respectively.

  When an internal pressure is applied to the internal space of the hollow tubular elastic body 81 by the supplied compressive fluid, the hollow tubular elastic body 81 tends to expand mainly in the radial direction. However, it is converted into the movement of the hollow tubular elastic body 81 in the direction of the central axis by the restriction action of the deformation direction restricting member 82, and the entire length contracts, so that it can be used as a linear actuator elastic actuator. That is, the tubular elastic body 81 is expanded by pressurizing the fluid supplied into the hollow by the control device 3, and the tubular elastic body 81 is contracted by depressurizing the fluid supplied into the hollow. By maintaining the supply amount of the fluid supplied into the hollow at a predetermined value or more, the rigidity of the tubular elastic body 81 is increased, and the supply amount of the fluid supplied into the hollow by the control device 3 is reduced below the predetermined value. By doing so, the rigidity of the tubular elastic body 81 is lowered.

  FIG. 2 shows the control device 3 for the assist pants 2a or assist ankle bands 2b, 2c and the actuator 10 for the assist pants 2a or assist ankle bands 2b, 2c to be controlled and the control device 3 in the embodiment of the present invention. 3 is a block diagram showing an input interface unit 200. FIG. The input interface unit 200 may be called an acquisition unit.

  In this embodiment, the control device 3 is configured by a general microcomputer as an example, and the control device 3 has a forehead stiffness target value output unit 24 that functions as an example of the stiffness control unit. And an input interface unit 200 that acquires user information related to the user 100 itself. Therefore, by adjusting the fluid supplied into the hollow by the control device 3, the thigh actuator 10 or the ankle actuator 11 of the tubular elastic body expands and contracts, and the supply amount of the fluid supplied into the hollow by the control device 3 is increased. By controlling, the rigidity of the thigh actuator 10 or the ankle actuator 11 of the tubular elastic body is changed.

  The forehead stiffness target value output unit 24 supplies and discharges the compressive fluid independently to the antagonistic thigh actuator 10 or the ankle actuator 11 to increase or decrease the pressure, so that the left side surface of the hip joint or ankle The rigidity with the right side surface can be changed.

  The input interface unit 200 includes at least a user information input unit 12 that functions as an example of a user information acquisition unit, and foot sensors 8a and 8b as an example of a walking information acquisition device that acquires walking information of the walking motion of the user 100. It functions as an example of the information acquisition unit. As a specific example, the input interface unit 200 includes an input / output IF 41, a user information input unit 12, and foot sensors 8 a and 8 b that acquire walking information related to a walking state when the user 100 walks. .

  The input / output IF (interface) 41 is configured to include, for example, a D / A board, an A / D board, a counter board, and the like connected to an expansion slot such as a PCI bus of a microcomputer.

  The control device 3 sends a control signal to the actuators 10 and 11 via an input / output IF 41 as an example of an output unit. The control device 3 receives signals from the foot sensors 8a and 8b and information from the user information input unit 12 as input units via the input / output IF 41, respectively. As a specific example, the control device 3 includes a walking cycle estimation unit 20, an assist strength determination unit 21, a timing determination unit 23, a forehead rigidity target value output unit 24, a torque target value setting unit 25, The actuator set value setting unit 26, the actuator control unit 27, and the sagittal rigidity target value output unit 28 are configured.

  As an example, the user information input unit 12 is provided in the assist pants 2a or the assist ankle bands 2b and 2c, or is configured independently of them and used by the user 100, for example, a portable device such as a touch panel or a smartphone. Etc. Prior to use, the user 100 uses the user information input unit 12 to determine the user's 100 age, degree of disability (eg, leg injury condition), and / or degree of fatigue (ie, information on fatigue state). An example of user information is input to the assist strength determination unit 21.

  FIG. 4 is a diagram showing display and operation on the touch panel 12 a as an example of the user information input unit 12.

  First, the user 100 first selects one of the age selection buttons on the touch panel 12a, and presses the “Next” button.

  Next, if there is a problem of walking such as injury or obstacle, if there is a problem, select one of the buttons "Right foot only", "Left foot only", or "Both feet" Press the “Next” button. If there is no problem, select the “None” button and press the “Next” button.

  Finally, select the current fatigue level (ie, before assisting) and press the “Done” button. As an example of the fatigue level here, one of the buttons of “Energetic”, “A little tired”, and “Unlike to walk” is selected.

  In the example of FIG. 4, the buttons that are not selected are hatched, and the selected buttons are displayed as white, so that the age is a “60s” button, the walking problem is a “nothing special” button, and the fatigue level is The button “I am a little tired” is selected.

  The user information input unit 12 outputs all of the information on the options selected in this way to the assist strength determination unit 21 via the input / output IF 41 as user information. As will be described in detail later, the forehead stiffness target value output unit 24 is based on the information of the user 100 acquired from the user information input unit 12 via the assist strength determination unit 21 and the walking information from the foot sensors 8a and 8b. Thus, the rigidity on the left side and the right side is changed.

  Moreover, the foot sensors 8a and 8b are provided in the assist pants 2a. Specifically, the foot sensors 8a and 8b are provided on the bottom surfaces of the assist socks 2j and 2k. The foot sensors 8a and 8b respectively detect the ground contact state of both feet of the user 100 as walking information that is information related to the walking state, and the ground state information is an example of walking information to the walking cycle estimation unit 20 via the input / output IF 41. Output as. When the foot sensors 8a and 8b are provided in the assist system 1, the assist socks 2j and 2k provided with the foot sensors 8a and 8b are provided separately from the assist pants 2a or the assist ankle bands 2b and 2c, or the assist ankle band. Assist socks 2j and 2k can be provided integrally with 2b and 2c.

  FIG. 5 is a view showing an example of the arrangement of a number of foot sensors 8b on the back surface of the left foot assist socks 2k. A number of foot sensors 8a are arranged on the back surface of the assist socks 2j for the right foot as well as the left foot in FIG.

  As the foot sensors 8a and 8b, 26 pieces from L1 to L26 are arranged only on the left foot, and 26 pieces from R1 to R26 are arranged symmetrically on the right foot (not shown), and the foot sensor 8a, When the portion where 8b is disposed is in contact with the ground plane, the ON signals are output from the foot sensors 8a and 8b, respectively, and when the portion where the foot sensors 8a and 8b are disposed are not grounded, An OFF signal is output from each of the sensors 8a and 8b. All the identification information of the 52 foot sensors 8a and 8b and the ON / OFF information of the 52 foot sensors 8a and 8b are collectively referred to as ground contact state information. Since the ground contact state information includes identification information of the foot sensors 8a and 8b and ON / OFF information of the foot sensors 8a and 8b, for example, information on whether or not the foot heel is grounded can be extracted. It has become.

  The walking cycle estimation unit 20 estimates walking cycle information based on walking information from foot sensors 8a and 8b as an example of a walking information acquisition device. Specifically, the ground contact state information of the left and right feet from the foot sensors 8a and 8b is input to the walking cycle estimation unit 20 via the input / output IF 41, respectively. The walking cycle estimation unit 20 calculates the walking cycle of the user 100 wearing the assist pants 2a or the assist ankle bands 2b, 2c based on the ground contact state information from the foot sensors 8a, 8b. As an example, as shown in FIG. 6, the walking cycle estimation unit 20 sets the walking cycle to 0% when the right foot is in contact with the heel, and the walking cycle is 10% when the left foot is completely separated from the ground surface. The walking cycle is 30% when the heel is away from the ground surface, the walking cycle is 50% when the left footpad is grounded, and the walking cycle is 60% when the right foot is completely separated from the ground surface. The walking cycle is defined as 80% when the left footpad is separated from the ground surface, and the walking cycle is defined as 100% = 0% when the right footpad is grounded again. In general, the period when the walking cycle is 0% to 60%, that is, even when the foot is partly grounded is called the stance phase, and the walking cycle is 60% to 100%, that is, the foot is completely grounded. The period when there is no period is called the swing phase. Then, the walking cycle estimation unit 20 uses the timing determination unit 23 and the torque target value setting unit as information on how many percent the user 100 is currently walking and the walking time of the user 100 as walking cycle information. 25, the sagittal stiffness target value output unit 28, and the fatigue level estimation unit 29.

  The fatigue level estimation unit 29 estimates the fatigue level of the user 100 over time from the walking cycle information that is output from the walking cycle estimation unit 20 and includes the walking time of the user 100, and as another example of user information, an assist strength determination unit To 21.

  When the fatigue level estimation unit 29 determines that the walking time of the user 100 is longer than the threshold value, the control device 3 changes the stiffness on the left side surface and the right side surface so as to increase, and the fatigue level estimation unit 29 estimates it. When it is determined that the user's 100 degree of fatigue over time is greater than the threshold for time-dependent fatigue, control is performed so as to change the rigidity on the left side and the right side. Specifically, the fatigue level estimation unit 29 estimates the fatigue level over time as follows, for example.

  First, the fatigue level estimation unit 29 counts the number of times that the walking cycle is 0% from the walking cycle information. Then, for example, information totaled for 5 minutes is recorded in the internal storage unit (not shown) by the fatigue level estimation unit 29. Thereby, the number of steps for 5 minutes is recorded by the fatigue level estimation unit 29. Next, the time change in the number of steps for 5 minutes is calculated by the fatigue level estimation unit 29, and compared with the number of steps for 5 minutes when the user 100 starts walking, the 5th and after 5 minutes when the user 100 starts walking If there is 5 minutes having a reduction rate equal to or greater than a predetermined threshold for walking time in the minute, the fatigue level estimation unit 29 determines that the 5 minute is a “fatigue” section.

  FIG. 7 is a diagram illustrating an example of the fatigue level obtained from the walking cycle information in the fatigue level estimation unit 29. The section of “A” that is between 100% and 90% is determined by the fatigue level point “0” by the fatigue level estimation unit 29 with the number of steps for 5 minutes at the beginning of walking as 100%. Next, a section “B” that is between 90% and 75% is determined by the fatigue point “10” and the fatigue level estimation unit 29. Next, the section of “C” that is 75% or less is determined by the fatigue level point “20” and the fatigue level estimation unit 29. Next, when the walking time from the start of walking exceeds “1 hour” as an example of the threshold for walking time, the fatigue level estimation unit 29 adds “5” as a fatigue point, and the walking time from the start of walking is walking. As another example of the time threshold, when “2 hours” is exceeded, “10” is added as a fatigue point by the fatigue estimation unit 29. The fatigue level estimation unit 29 outputs the points of the total fatigue level with time to the assist strength determination unit 21 as the user time level fatigue level. For example, when the walking time from the start of walking exceeds 2 hours, the fatigue level point “20” is added to the fatigue level point “20” by the fatigue level estimation unit 29 as the total “30”. Is output from the fatigue level estimation unit 29 to the assist strength determination unit 21 as the user-time fatigue level.

  The assist strength determination unit 21 includes user input information that is a part of user information input from the user information input unit 12 and a user temporal fatigue level that is a part of user information output from the fatigue level estimation unit 29. From this, the strength of the assist based on the rigidity in the forehead direction (in other words, the left and right direction of the user 100) with respect to the user 100 is determined and output to the forehead rigidity target value output unit 24. The forehead direction means a direction in the forehead plane, and the forehead plane 151 means a plane cut vertically by a plane that penetrates the body of the user 100 from side to side as shown in FIG. That is, the forehead direction is generally the left-right direction of the body of the user 100. In addition, the surface cut | disconnected longitudinally by the surface which penetrates the body orthogonal to the frontal surface 151 back and forth is the sagittal surface 152.

  9A to 9D are diagrams illustrating an example of the operation of the assist strength determination unit 21. FIG. As shown in FIGS. 9A to 9D, the assist strength determination unit 21 stores point information to be determined for user information input from the user information input unit 12 and the fatigue level estimation unit 29.

  For example, FIG. 9A defines the relationship information between the age of the user 100 and the right and left foot points. For example, when the age of the user 100 is 39 years old or less, the right foot point is “10” and the left foot point is “10”.

  FIG. 9B defines the relationship information between the walking problem of the user 100 and the right and left foot points. For example, when the walking problem of the user 100 is “right foot only”, the right foot point is “50” and the left foot point is “0”.

  FIG. 9C defines the relationship information between the fatigue level input by the user 100 and the right and left foot points. For example, when the walking problem of the user 100 is “slightly tired”, the right foot point is set to “15” and the left foot point is also set to “15”.

  FIG. 9D defines the relationship information between the user's 100 fatigue time p and the right and left foot points. For example, when the user's 100 temporal fatigue degree p is “5” or more as the first threshold value for temporal fatigue degree and less than “25” as the second threshold value for temporal fatigue degree, the right foot point is set to “10”. The left foot point is also “10”. Here, if the first threshold value for fatigue over time is “5”, the left and right foot points are changed from “0” to “10” to increase the rigidity. If the second threshold value for fatigue over time is “25”, the left and right foot points are changed from “10” to “20” to increase the rigidity.

  Further, as shown in FIG. 9E, the assist strength determination unit 21 also stores relation information regarding what assist strength is to be set for the total point Pt. For example, when the total point Pt of the user 100 is “20” or more and less than “50”, the assist strength is “2”.

  Therefore, as shown in FIG. 9E, the assist strength determination unit 21 determines the assist strength from the total point Pt of the user 100 based on the relationship information and the user information, and the assist strength determination unit 21 determines the forehead rigidity target. Output to the value output unit 24.

  In the example of the user information shown in FIG. 4, the selected buttons include a button of “60s” for age, a button of “None” for walking problems, and a button of “A little tired” for fatigue. Therefore, as shown in FIGS. 9A to 9C, the right foot points are “25” point, “0” point, and “15” point, respectively. Therefore, the total point Pt of “25 + 0 + 15” is 40 points. Similarly for the left foot point, the total point Pt of “25 + 0 + 15” is 40 points. Therefore, as shown in FIG. 9E, since the assist strength is “2” at 40 points, the assist strength determination unit 21 indicates that the assist strength is “2” for the right foot and the left foot, respectively. Output to the target value output unit 24. As shown in FIG. 9D, during walking, points due to the time-dependent fatigue level p are further added by the fatigue level estimation unit 29. For example, when the time-dependent fatigue level p is “10”, 10 points are fatigued on both feet. It is added by the degree estimation unit 29. By adding 10 points to the initial 40 points by the fatigue level estimation unit 29, the total point Pt becomes 50 points. As shown in FIG. 9E, the assist strength “3” is output from the assist strength determination unit 21 to the forehead stiffness target value output unit 24 because the total strength Pt of 50 points is “3”. In short, in the user information acquired by the user information input unit 12 in the forehead rigidity target value output unit 24, these operations are performed so that the rigidity of the left side surface and the right side surface increases as the age of the user 100 increases. If the leg is injured, the rigidity on the left side surface and the right side surface is changed so that the rigidity on the left side surface and the right side surface increases. As the fatigue state of the user 100 increases, the rigidity on the left side surface and the right side surface increases. Means to change.

  Based on the walking cycle information output from the walking cycle estimation unit 20, the timing determination unit 23 instructs the forehead stiffness target value output unit 24 to change the stiffness (for example, the stiffness target value) (that is, the stiffness change timing signal or the stiffness). Change timing information), the timing at which the forehead stiffness target value output unit 24 changes the stiffness target value transmitted to the left side surface and the right side surface is controlled. As an example, FIG. 10 shows the operation of the timing discriminating unit 23. “Up” outputs a signal for increasing rigidity as a rigidity change timing signal, and “Down” outputs a signal for decreasing rigidity as a rigidity change timing signal. Means. In the example of FIG. 10, when the walking period of the right foot is 0% to less than 60%, the timing determination unit 23 outputs a signal for increasing the rigidity. When the walking cycle is less than 60% to less than 98%, the timing determination unit 23 outputs a signal for reducing the rigidity. In 98% to 100% (= 0%), the timing determination unit 23 outputs a signal for increasing the rigidity. When the left foot is less than 0% to 10%, the timing determination unit 23 outputs a signal for increasing the rigidity. If it is 10% to less than 48%, the timing discriminating unit 23 outputs a signal for reducing the rigidity. In 48% to 100% (= 0%), the timing determination unit 23 outputs a signal for increasing the rigidity.

  The forehead stiffness target value output unit 24 determines the stiffness target value of the motion in the forehead direction when the stiffness is increased based on the assist strength information output from the assist strength determination unit 21. Based on the stiffness change timing signal output from the timing discriminating unit 23, it is selected whether the stiffness target value is higher or lower than the current stiffness value (that is, before assisting). FIG. 11 shows an example of the operation of the forehead stiffness target value output unit 24.

  Specifically, the forehead stiffness target value output unit 24 first determines the first row (assist strength is “1”) to the fourth row (FIG. 11) from the assist strength information output from the assist strength determination unit 21. One of the four rows having the assist strength “4”) is selected. For example, in FIG. 11, if the assist strength is “1”, the first row is selected. Note that the stiffness target value in FIG. 11 is a stiffness value of an actuator as an example, and the unit is represented by N / m.

  Next, the forehead stiffness target value output unit 24 selects a column when the stiffness is increased or a column when the stiffness is lowered according to the signal for changing the stiffness output from the timing determination unit 23. By using the assist strengths of the right and left feet, the forehead stiffness target value output unit 24 determines the stiffness values of the right and left feet as examples of predetermined values. For example, in the previous example, when the assist strength is “1”, the first row is selected, and if the stiffness is increased in the first row, the stiffness target value is “20”. Thus, in the column when the stiffness is lowered, the stiffness target value is “10”. This is performed for each of the left and right feet to determine a stiffness target value.

  Note that the walking cycle is provided for each of the right foot and the left foot. For the right foot, for example, the following FIG. 12 is applied to the walking cycle for the right foot, and for the left foot, for example, the following is performed for the walking cycle of the left foot. FIG. 12 can be applied.

FIG. 12 shows an example of stiffness target value determination by the timing discriminating unit 23 and the forehead stiffness target value output unit 24. In FIG. 12, the horizontal axis represents the walking cycle, and the vertical axis represents the stiffness target value. In FIG. 12, the solid line graph indicates the assist strength “1”, the solid line graph with a black triangle indicates the assist strength “2”, the alternate long and short dash line graph indicates the assist strength “3”, and the dotted line graph. Indicates an assist strength of “4”. The horizontal axis in FIG. 12 indicates the walking cycle, and the vertical axis indicates the stiffness target value. Since FIG. 12 is a diagram in which FIG. 10 and FIG. 11 are described in an easy-to-understand manner, the stiffness target value may be obtained using only FIG. 12 instead of using FIG. 10 and FIG.
When the walking period is input by the timing discriminating unit 23, it is determined whether the stiffness value at that timing is high or low, and the forehead stiffness target value output unit 24 provides a high stiffness value and low stiffness for each assist strength. The value is specifically determined by a numerical value. For example, when the walking period is 0% by the timing determining unit 23 and the assist strength is “1” by the assist strength determining unit 21, the stiffness target value can be determined by the forehead stiffness target value output unit 24 as “20”. .

  Also, as shown in FIG. 12, the forehead stiffness target value output unit 24, for example, when the assist strength is “1”, before the predetermined time at the expected ground contact, before the predetermined period in the swing leg period. In order to control the rigidity value to be larger than the rigidity value of the left side surface and the right side immediately before the leg of the user 100 contacts the grounding surface (for example, the walking cycle in FIG. 6 is 98% to 100%). The rigidity of the surface is controlled to be a rigidity value “20” larger than the rigidity value “10”. Thereafter, the forehead stiffness target value output unit 24, for example, when the leg of the user 100 is away from the ground plane based on the walking period information of the user 100 (for example, the walking period in FIG. Control is performed so that the rigidity of the changed left side surface and the right side surface is returned to the rigidity value “10” immediately before 60% to 98%.

  As a result, the forehead stiffness target value output unit 24 determines the assist stiffness target value, and the determined stiffness target value is output from the forehead stiffness target value output unit 24 to the actuator set value setting unit 26. The forehead direction movements are the left and right movements of the right hip joint generated by the pair of the outer and inner thigh actuators 10e and 10f of the right leg, and the thigh actuators 10g and 10h of the inner and outer sides of the left leg. Left / right movement of the left hip joint generated by the pair, right / left movement of the right ankle joint generated by the pair of the ankle actuators 11e and 11f on the outer side and the inner side of the right ankle, and an ankle actuator 11g on the inner side and the outer side of the left ankle And the left and right movements of the left ankle joint generated by the 11h pair.

  Based on the stiffness target value output from the forehead stiffness target value output unit 24, the actuator set value setting unit 26 sets the set values of the thigh actuators 10e, 10f, 10g, 10h or the ankle actuators 11e, 11f, 11g, 11h. The set thigh actuators 10e, 10f, 10g, and 10h or the set values of the ankle actuators 11e, 11f, 11g, and 11h are output from the actuator set value setting unit 26 to the actuator control unit 27.

  FIG. 13 shows an arrangement of the left and right actuators 10e and 10f of the right hip joint as an example. Hereinafter, a method of obtaining the left-right torque τ and the stiffness elastic coefficient K generated by both the actuator 10e and the actuator 10f will be described with reference to FIG. The left-right direction torque τ and the stiffness elastic coefficient K of the other actuators 10 and 11 can be obtained in the same manner.

In FIG. 13, O is the center of rotation of the hip joint of the user 100, A is the point of application of the right thigh right thigh actuator 10e, D is the point of application of the right thigh left thigh actuator 10f, _{A o} is the starting point of the actuator 10e , D _o is the starting point of the actuator 10f, r is the distance between point O and point A (in other words, the distance between point O and point D), θ _a is the angle formed by the line segment OA and the X axis, and θ _d is the line segment OD. Is the angle formed by the X axis. x _A0 and y _A0 are the x and y coordinates of point A, respectively. The distance r, the position of the point A, and the position of the point D are calculated in advance from the design value of the assist pants 2a, and are stored in the actuator set value setting unit 26.

とおくと、

（ただし、Ｋ_ａはアクチュエータ１０ｅの直動方向における弾性係数、ｌ_aはアクチュエータ１０ｅの自然長とする。）であり、アクチュエータ１０ｅによる回転方向の弾性係数Ｋ_θａは、

である。 At this time, the torque τ _a by the actuator 10e with respect to the rotation center O is

After all,

(However, _{K a} is the elastic modulus in the linear direction of the actuator 10e, l _a is a natural length of the actuator 10e.) Is the elastic coefficient K _.theta.a direction of rotation by the actuator 10e is

It is.

である。ただし、τ_ｂは回転中心Ｏに対するアクチュエータ１０ｆによるトルクであり、τ_ａと同様に算出できる。また、アクチュエータ１０ｅとアクチュエータ１０ｆの両方によって発生する剛性の弾性係数Ｋは、

で表すことができる。ただし、Ｋ_θｄはアクチュエータ１０ｆの回転方向の弾性係数であり、Ｋ_θａと同様に算出できる。 The torque τ in the left-right direction generated by both the actuator 10e and the actuator 10f is

It is. However, (tau) _b is the torque by the actuator 10f with respect to the rotation center O, and can be calculated similarly to (tau) _a . The elastic modulus K of rigidity generated by both the actuator 10e and the actuator 10f is

Can be expressed as However, _Kθd is an elastic coefficient in the rotation direction of the actuator 10f, and can be calculated in the same manner as _Kθa .

  FIG. 14 shows an example of the relationship between the walking period of the right leg thigh actuator 10 and the target elastic modulus. In FIG. 14, the horizontal axis represents the walking period of the right foot, and the vertical axis represents the magnitude of rigidity.

  As shown in the third graph from the top, in the lateral direction of the hip joint, no assist torque is generated, and only the rigidity is assisted. Therefore, the right and left thigh actuators 10e and 10f are the left and right actuators. The forehead stiffness target value output unit 24 controls the stiffness so that the stiffness increases at the same time.

  Further, as shown in the sixth graph from the top, in the lateral direction of the ankle, in order to assist only the rigidity without generating the assist torque, the ankle actuator 11e between the outside and inside of the right ankle which is the left and right ankle actuators The forehead stiffness target value output unit 24 controls the stiffness so that the stiffness increases simultaneously by increasing the elastic coefficients of 11 and 11f.

  FIG. 15 is a diagram showing the characteristics of an air actuator which is an example of the actuators 10 and 11.

  The actuator set value setting unit 26 models this FIG. 15 and stores it in the internal storage unit. Based on the target elastic coefficients of the actuators 10 and 11 obtained from the above equations, the actuator set value setting unit 26 sets the target internal air pressure value to the actuator set value. Calculation is performed by the setting unit 26. This value is output from the actuator set value setting unit 26 to the actuator control unit 27 as the actuator set value.

  The actuator control unit 27 controls the actuators 10 and 11 based on the actuator setting value input from the actuator setting value setting unit 26. As a result, for example, in each of the left and right feet, the stiffness transmitted to the left side surface of the hip joint or ankle and the right side surface of the section from when the foot is grounded to when the foot is completely separated from the ground surface, respectively. The forehead stiffness target value output unit 24 can control the actuators 10 and 11 so as to be larger than the stiffness of other sections (see, for example, the graphs 10e and 10f in FIG. 14). That is, the forehead stiffness target value output unit 24 makes the second stiffness target value smaller than the first stiffness target value based on the walking cycle information of the user 100, and immediately before the leg contacts the ground. By changing the rigidity target value to the first rigidity target value, the rigidity transmitted to the left side and the right side can be increased. Here, the first stiffness target value is a stiffness target value transmitted to the left side surface and the right side surface when the leg of the user 100 is in contact with the ground contact surface, and the second stiffness target value is The target value of the rigidity transmitted to the left side surface and the right side surface when the leg of the user 100 is not in contact with the ground surface. By changing the stiffness target value greatly in this way, the left or right side surface of the ankle becomes as if it is supported by a rigid body, preventing the user 100 from falling to the left or falling to the right while walking. can do.

  As described above, according to the embodiment, the left thigh left side and the right thigh left side that are arranged at a portion corresponding to the left side of the hip joint or ankle of at least one leg of the user 100 and expand and contract by adjusting the fluid. Thigh actuators 10h, 10f or left ankle left side and right ankle left side ankle actuators 11h, 11f, and a leg corresponding to the hip joint of the leg or the right side of the ankle, and the left that expands and contracts by adjusting fluid Thigh actuators 10e and 10g for the right side of the thigh and the right side of the right thigh or ankle actuators 11e and 11g for the right side of the left ankle and the right side of the right ankle are provided. In addition, the control device 3 controls the actuators 10 and 11 independently to control the supply amount of each fluid, so that the user information acquired by the user information input unit 12 and the walking from the foot sensors 8a and 8b. Based on the information, for example, on the left and right feet, the hip joint or ankle from the time when the foot cycle is 0% to the time when the foot is grounded to the time when the foot whose cycle is 60% is completely separated from the ground surface. The stiffness target value transmitted to the left side surface and the right side surface is changed by the forehead stiffness target value output unit 24 so as to be larger than the stiffness target values of the other sections, and the left or right side surface of the ankle is The state is as if it is supported by a rigid body, and the user 100 can be prevented from falling to the left or to the right while walking.

  In addition, as an example, the control device 3 includes a walking cycle estimation unit 20, an assist strength determination unit 21, a timing determination unit 23, a forehead rigidity target value output unit 24, an actuator set value setting unit 26, and an actuator control. A part 27 and a fatigue level estimation part 29 are provided. The forehead stiffness target value output unit 24 is based on the walking cycle information from the walking cycle estimation unit 20, the assist strength information from the assist strength determination unit 21, and the stiffness change timing information from the timing determination unit 23. The right and left thigh actuators 10h, 10f, 10e, and 10g or the left and right ankle actuators 11h, 11f, 11e, and the like are determined by the action of the actuator setting value setting unit 26 and the actuator control unit 27. It is possible to control the rigidity transmitted to the hip joint or the left side surface of the ankle and the right side surface according to 11g according to the stiffness target value. Thereby, the assist system 1 can prevent the user 100 who is an assist target person from falling over while walking.

  Further, the assist strength determination unit 21 determines the assist strength from the user information, and it is possible to set a high rigidity as a kind of assist force for the user 100 that needs more assist. The timing determination unit 23 is based on walking cycle information that is an example of the walking information of the user 100 output from the walking cycle estimation unit 20 and immediately before the user 100 touches the foot (for example, a road surface or a floor surface). By increasing the rigidity only until it leaves, it can be prevented from falling, and at the same time, the movement of the foot joint can be prevented from being hindered when the foot is in the air. Thereby, for example, when the user 100 walks while adjusting the place where the user 100 places his / her foot when there is an obstacle on the ground contact surface, the user 100 can be prevented from falling without hindering his / her movement.

  In the embodiment, the walking assist pants that assist the rigidity of the left side surface and the right side surface of the hip joint and the ankle joint are described as an example, but the present invention is not limited to this.

  In the above-described embodiment, the pneumatic actuator has been described as an example of the actuator. However, the present invention is not limited to this. For example, a combination of a motor, a pulley, and a wire may be used.

  In the embodiment, the foot sensors 8a and 8b have been described as examples of the walking information acquisition device that acquires the walking information of the input interface unit 200. However, the present invention is not limited to this, and for example, the assist pants 2a or the assist An angle sensor or the like attached to the ankle bands 2b and 2c may be used.

  In the above-described embodiment, the explanation is given of the case where the rigidity assist is performed on both the left and right legs as an example. However, the present invention is not limited to this, and only one of the legs may be assisted. For example, the present embodiment can be implemented even with assistance of only one leg, such as an example in which the assist system 1 cannot be attached to one leg due to injury.

  As described above, in the above-described embodiment, with respect to the left-right direction of the user 100, the rigidity is increased only immediately before the user 100 touches the foot until the user 100 moves away from the contact surface, thereby preventing falling and at the same time the leg is in the air. When floating, the movement of the leg joints can be prevented. Thereby, for example, when the user 100 walks while adjusting the place where the user 100 places his / her foot when there is an obstacle on the ground contact surface, the user 100 can be prevented from falling without hindering the movement of the leg.

(Modification)
As a modification of the embodiment, when an assist function is added to the walking motion of the user 100 in the front-rear direction, the thigh actuator 10 includes actuators 10a, 10d before and after the right leg hip joint and actuators 10b before and after the left leg hip joint. 10c can be further added. For the same purpose, actuators 11a and 11d before and after the right ankle and actuators 11b and 11c before and after the left ankle can be further added to the ankle actuator 11. The control device 3 adjusts the fluid independently of the added thigh actuators 10a, 10d, 10b, and 10c and the added ankle actuators 11a, 11d, 11b, and 11c based on the user information and the walking information. The assist force in the front-rear direction of the hip joint or the ankle is controlled to be changed.

  Specifically, as shown in FIGS. 16 and 17, the assist pants 2 a has an additional thigh actuator 10 that is disposed on the front side of the assist pants body 2 d that corresponds to the right leg and the front of the left leg. Thigh actuators 10a and 10b, and back thigh actuators 10d and 10c arranged at portions corresponding to the rear surfaces of the right leg and the left leg. The thigh actuators 10a and 10b on the front side of the right leg and the left leg function as an example of the fifth actuator, and the thigh actuators 10d and 10c on the back side (that is, the rear side) of the right leg and the left leg are the sixth actuators. Serves as an example. In addition, the assist ankle bands 2b and 2c include ankle actuators 11a and 11b on the front side disposed in portions corresponding to the front surfaces of the ankles of the ankle band main bodies 2g and 2h as an additional ankle actuator 11, and an ankle band main body 2g. , 2h, ankle actuators 11d and 11c on the back side disposed in a portion corresponding to the rear surface of the ankle.

  The thigh actuators 10a and 10d are in an antagonistic relationship, and the thigh actuators 10b and 10c are in an antagonistic relationship. Therefore, by controlling the operation of the control device 3, the front and rear thigh actuators 10a and 10d of the right leg of the antagonistic pair are driven so as to pull each other, so that the right leg thigh is Torque before and after the leg hip joint can be generated. Further, the front and rear thigh actuators 10b and 10c of the left leg of the antagonistic pair are driven so as to pull each other by the operation control of the control device 3, so that the left leg thigh is Torque before and after the leg hip joint can be generated.

  Similarly, in the ankle actuator 11, the ankle actuators 11a and 11d are in an antagonistic relationship, and the ankle actuators 11b and 11c are in an antagonistic relationship. Therefore, by controlling the operation of the control device 3, the right ankle actuators 11 a and 11 d of the antagonistic pair are driven so as to pull each other, so that the torque before and after the right ankle can be generated. Further, by the operation control of the control device 3, the antagonistic pair of left ankle actuators 11b and 11c are driven to pull each other, thereby generating torque in the front and rear of the left ankle.

  In the case of this modification, as an example of the control device 3, a torque target value setting unit 25 and a sagittal rigidity target value output unit 28 can be further provided for assist walking.

  The torque target value setting unit 25 outputs a torque target value that assists walking based on the walking cycle information output from the walking cycle estimation unit 20. The torque target value setting unit 25 stores a target torque value with respect to the walking cycle information in advance, and a torque value that assists walking based on the torque value, that is, a sagittal torque that moves the left and right legs in the front-rear direction. And the determined target value of the torque in the sagittal direction is output to the actuator set value setting unit 26. The sagittal torque for moving the left and right legs in the front-rear direction is the torque before and after the right hip joint generated by the pair of thigh actuators 10a and 10d and the torque before and after the left hip joint generated by the pair of thigh actuators 10b and 10c. And the torque before and after the right ankle joint generated by the pair of ankle actuators 11a and 11d and the torque before and after the left ankle joint generated by the pair of the ankle actuators 11b and 11c. The torque target value setting unit 25 outputs a torque target value 0 for the motion in the forehead direction. FIG. 18 is a graph of an actuator for the right foot, which is a torque for making the swing of the front and rear feet, and the timing is different from the lateral stiffness.

  FIG. 18 is a diagram illustrating an example of torque target values (in other words, assist torque before and after the hip joint and assist torque before and after the ankle joint) with respect to the respective forward and backward movements of the hip joint and ankle joint of the right foot. Shows the torque to make the right foot swing. The assist torque before and after the hip joint indicates the assist torque of the hip joint longitudinal motion generated by the actuator 10a and actuator 10d pair and the actuator 10b and actuator 10c pair, respectively. Further, the assist torque before and after the ankle joint indicates the assist torque of the ankle joint longitudinal motion generated by the pair of the actuator 11a and the actuator 11d and the pair of the actuator 11b and the actuator 11c, respectively. In the example of FIG. 18, the left foot is bent by the pair of the actuator 10a and the actuator 10d and the pair of the actuator 10b and the actuator 10c in the interval from when the left foot touches the grounding surface to when it leaves the grounding surface in the walking cycle. Later, it was extended to generate assist power. Similarly, the pair of the actuator 11a and the actuator 11d and the pair of the actuator 11b and the actuator 11c assists by bending the left ankle in the section from the time when the left foot touches the grounding surface to the time when it leaves the grounding surface in the walking cycle. Generating power.

  The sagittal stiffness target value output unit 28 determines a sagittal motion stiffness target value based on the walking cycle information output from the walking cycle estimation unit 20, and determines the determined sagittal motion stiffness target value. Output from the sagittal stiffness target value output unit 28 to the actuator set value setting unit 26. The sagittal stiffness target value of the motion in the sagittal direction is determined in advance as a function of the walking cycle information, and the sagittal stiffness target value output unit 28 stores it.

  The actuator set value setting unit 26, together with the stiffness target value output from the forehead stiffness target value output unit 24, and the stiffness target value output from the sagittal stiffness target value output unit 28, as in the previous embodiment. Based on the torque target value output from the torque target value setting unit 25, the setting values of the thigh and ankle actuators 10 and 11 are set, and the set values of the thigh and ankle actuators 10 and 11 are set as actuator setting values. The data is output from the setting unit 26 to the actuator control unit 27.

  FIG. 14 shows an example of the relationship between the walking period of the right leg thigh actuator 10 and the target elastic modulus.

  As shown in the first and second graphs of FIG. 14, the actuators 10a and 10d are actuators that assist the torque and rigidity before and after the hip joint, and are examples in which only the torque is assisted without assisting the rigidity before and after. . In this case, when the assist torque in the extension direction in which the leg is swung backward is necessary based on the walking cycle information, the elastic coefficient of the actuator 10d which is the actuator on the rear side of the hip joint is increased and the rigidity is increased, and the walking cycle is also increased. When the direction is reversed based on the information, the forehead stiffness target value output unit 24 performs control so that the elasticity of the actuator 10a, which is the actuator on the front side of the hip joint, is increased and the stiffness is increased.

  As shown in the fourth and fifth graphs of FIG. 14, when generating an assist torque that flexes the ankle, the assist torque in the extension direction by bending the ankle backward based on the information of the walking cycle is also generated. Is required, the elasticity coefficient of the actuator 11d, which is the actuator on the rear side of the ankle, is increased and the rigidity is increased. When the direction is reversed based on the information on the walking cycle, the elasticity of the actuator 11a, which is the actuator on the front side of the ankle, is increased. The forehead stiffness target value output unit 24 controls so that the coefficient increases and the stiffness increases.

  According to this modification, it is possible to simultaneously achieve walking assistance in the front-rear direction of the user 100 and stiffness assistance in the left side surface and the right side surface.

  Although the present invention has been described based on the embodiments and modifications, it is needless to say that the present invention is not limited to the above-described embodiments and modifications. The following cases are also included in the present invention.

  Specifically, a part or all of the control device 3 is a computer system including a microprocessor, a ROM, a RAM, a hard disk unit, and the like. A computer program is stored in the RAM or hard disk unit. Each unit achieves its function by the microprocessor operating according to the computer program. Here, the computer program is configured by combining a plurality of instruction codes indicating instructions for the computer in order to achieve a predetermined function.

  For example, each component can be realized by a program execution unit such as a CPU reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

The software that realizes a part or all of the elements constituting the control device in the embodiment or the modification is the following program. That is, this program includes first assist wear including a waist belt fixed to the user's waist and an upper knee belt fixed to the upper knee,
Second assist wear comprising an ankle upper belt fixed to the user's upper ankle and an ankle lower belt fixed to the lower ankle;
It is arranged at a portion corresponding to the left side surface (for example, each thigh) of the hip joint of at least one leg of the user, and is connected to the end portions of the waist belt and the above-knee belt to adjust fluid. A first actuator that expands and contracts by
A second part of the leg corresponding to the right side of the hip joint (for example, each thigh) is connected to the ends of the waist belt and the knee belt and expands and contracts by adjusting fluid. An actuator,
A third actuator disposed at a portion corresponding to a left side surface of the ankle of the leg, connected to ends of the upper ankle belt and the lower ankle belt, and expands and contracts by adjusting fluid;
Assist mechanism comprising a fourth actuator disposed on a portion of the leg corresponding to the right side surface of the ankle and connected to ends of the ankle upper belt and the ankle lower belt and extending and contracting by adjusting fluid. Is a control program for a walking and tipping prevention device that prevents the user from falling when walking.
Computer
An information acquisition unit that acquires the user information of the user and the walking information of the walking motion of the user;
Based on the user information of the user himself / herself acquired by the information acquisition unit and the walking information of the user's walking motion, the first to fourth actuators are controlled independently from each other. Thus, the control program of the walking and tipping preventing device for functioning as a rigidity control unit that controls to change the rigidity of the left side surface and the right side surface of the hip joint or ankle.

  The program may be executed by being downloaded from a server or the like, and a program recorded on a predetermined recording medium (for example, an optical disk such as a CD-ROM, a magnetic disk, or a semiconductor memory) is read out. May be executed.

  Further, the computer that executes this program may be singular or plural. That is, centralized processing may be performed, or distributed processing may be performed.

  In addition, it can be made to show the effect which each has by combining arbitrary embodiment or modification of the said various embodiment or modification suitably. In addition, combinations of embodiments or combinations of modifications or combinations of embodiments and modifications are possible, and combinations of features in different embodiments or modifications are also possible.

  The walking and falling prevention device according to the above aspect of the present invention, the control device and control method of the walking and fall prevention device, and the control program for the walking and fall prevention device can prevent the fall in the lateral direction of the user as much as possible. The present invention is useful for an assist device that is attached to a user and performs walking assist, a control device and control method for the assist device, and a control program for the assist device.

DESCRIPTION OF SYMBOLS 1 Assist system 2 Assist mechanism 2a Assist pants 2b, 2c Assist ankle band 2d Assist pants main body 2g, 2h Ankle band main body 2j, 2k Assist socks 3 Control device 4 Lumbar belt 5a, 5b Knee belt 6a, 6b Ankle belt 7a, 7b Lower ankle belt 8a, 8b Foot sensor 10, 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h, 10i, 10g, thigh actuator 11, 11a, 11b, 11c, 11d, 11e, 11f, 11g, 11h 11i, 11g, ankle actuator 12 user information input unit 12a touch panel 20 walking cycle estimation unit 21 assist strength determination unit 23 timing determination unit 24 forehead stiffness target value output unit 25 torque target value setting unit 26 actuator setting Value setting unit 27 actuator control section 28 sagittal stiffness target value output section 29 the fatigue level estimation unit 40 a control program (controller)
41 I / O IF
DESCRIPTION OF SYMBOLS 80 Pneumatic actuator 81 Tubular hollow elastic body 82 Deformation direction control member 83 Sealing member 84 Fluid passage member 100 User 151 Frontal surface 152 Sagittal surface 200 Input interface part

Claims (13)

A device for preventing a fall from walking while preventing a user from falling.
An assist mechanism;
A control device for controlling the operation of the assist mechanism,
The assist mechanism is
First assist wear comprising a waist belt fixed to the user's waist and an upper knee belt fixed to the upper knee;
Second assist wear comprising an ankle upper belt fixed to the user's upper ankle and an ankle lower belt fixed to the lower ankle;
A first actuator disposed at a portion corresponding to a left side surface of a hip joint of at least one leg of the user, coupled to ends of the waist belt and the knee belt, and extending and contracting by adjusting fluid; ,
A second actuator disposed on a portion of the leg corresponding to the right side surface of the hip joint, connected to ends of the waist belt and the knee belt, and extending and contracting by adjusting fluid;
A third actuator disposed at a portion corresponding to a left side surface of the ankle of the leg, connected to ends of the upper ankle belt and the lower ankle belt, and expands and contracts by adjusting fluid;
A fourth actuator disposed on a portion of the leg corresponding to the right side surface of the ankle, connected to ends of the ankle upper belt and the ankle lower belt, and extending and contracting by adjusting fluid;
The controller is
An input interface unit for acquiring user information of the user and walking information of the user's walking motion;
Based on the user information and the walking information acquired by the input interface unit, the first to fourth actuators are independently controlled to control the amount of fluid supplied to the left side of the hip joint or ankle. A rigidity control unit that controls to change the rigidity of the surface and the right side surface,
Walking fall prevention device. Each of the first to fourth actuators is a tubular elastic body having a hollow,
The tubular elastic body expands and contracts by adjusting the fluid supplied into the hollow by the rigidity control unit,
The rigidity of the tubular elastic body is changed by controlling the supply amount of the fluid supplied into the hollow by the rigidity controller.
The walking overturn prevention device according to claim 1. The rigidity control unit expands the tubular elastic body by pressurizing the fluid supplied into the hollow, and contracts the tubular elastic body by decompressing the fluid supplied into the hollow,
The rigidity of the tubular elastic body is increased by maintaining the supply amount of the fluid supplied into the hollow by the rigidity control unit at a predetermined value or more,
The rigidity of the tubular elastic body is reduced by reducing the supply amount of the fluid supplied into the hollow by the rigidity control unit to be less than the predetermined value.
The device for preventing overturn of walking according to claim 2. The input interface unit includes a user information input unit that acquires any one of the age of the user, the state of injury of the leg of the user, and information on the fatigue state of the user as the user information,
In the user information acquired by the user information input unit, the rigidity control unit changes the rigidity of the left side surface and the right side surface so as to increase as the age of the user increases. If there is, change to increase the rigidity on the left side and the right side, and increase the rigidity on the left side and the right side as the fatigue state of the user increases. Control,
The fall prevention device for walking according to any one of claims 1 to 3. The input interface unit is a walking information acquisition device that acquires information about the walking state of the user as the walking information;
A walking cycle estimation unit that estimates walking cycle information based on the walking information from the walking information acquisition device;
From the walking cycle information that is output from the walking cycle estimation unit and includes the walking time of the user, as an example of the user information, a fatigue level estimation unit that estimates the fatigue level of the user over time,
When the fatigue control unit determines that the walking time of the user is longer than the walking time threshold, the stiffness control unit changes the stiffness on the left side and the right side to increase, and the fatigue If the degree of fatigue of the user estimated by the degree estimation unit is determined to be greater than the threshold for fatigue over time, control is performed so that the rigidity on the left side and the right side is increased. ,
The fall prevention device for walking according to any one of claims 1 to 4. The input interface unit includes a walking information acquisition device that acquires the walking information of the user,
The stiffness control unit controls the timing of changing the stiffness in the left side surface and the right side surface based on the walking information of the user acquired by the walking information acquisition device.
The walking overturn prevention device according to any one of claims 1 to 5. The walking information of the user is walking cycle information of the user,
The stiffness control unit makes the second stiffness value smaller than the first stiffness value based on the walking cycle information of the user, and from the second stiffness value immediately before the leg contacts the ground. Control to increase the rigidity of the left side and the right side by changing the stiffness value to 1.
Here, the first stiffness value is a magnitude of stiffness in the left side surface and the right side surface when the leg of the user is in contact with the grounding surface, and the second stiffness value is The rigidity of the left side and the right side when the user's leg is not in contact with the ground plane.
The walking fall prevention device according to claim 6. The walking information of the user is walking cycle information of the user,
The stiffness control unit controls the stiffness value to be larger than a stiffness value before a certain predetermined period in the swing leg period, based on the walking cycle information of the user, before a predetermined time at the time of expected ground contact. To
The walking fall prevention device according to claim 6. The user's walking information is the user's walking cycle information,
The rigidity control unit increases the rigidity of the left side surface and the right side surface from the rigidity value immediately before the leg of the user contacts the ground contact surface, and then based on the walking cycle information of the user. When the user's leg is away from the ground contact surface, control is performed so that the stiffness of the changed left side surface and the right side surface is returned to the stiffness value.
The walking falling prevention device according to claim 8. The assist mechanism further includes:
A fifth actuator of the assist wear that is disposed in a portion corresponding to the front surface of the hip joint or the ankle of at least one leg of the user, and expands and contracts by adjusting fluid;
A sixth actuator that is disposed in a portion of the assist wear corresponding to the rear surface of the hip joint or the ankle and expands and contracts by adjusting fluid;
The control device controls the supply amounts of the respective fluids independently for the fifth actuator and the sixth actuator based on the user information and the walking information acquired by the input interface unit. By controlling to change the assist force in the front-rear direction of the hip joint or the ankle,
The fall prevention device for walking according to any one of claims 1 to 9. First assist wear comprising a waist belt fixed to a user's waist and an above-knee belt fixed to an upper knee;
Second assist wear comprising an ankle upper belt fixed to the user's upper ankle and an ankle lower belt fixed to the lower ankle;
A first actuator disposed at a portion corresponding to a left side surface of a hip joint of at least one leg of the user, coupled to ends of the waist belt and the knee belt, and extending and contracting by adjusting fluid;
A second actuator disposed on a portion of the leg corresponding to the right side surface of the hip joint, connected to ends of the waist belt and the knee belt, and extending and contracting by adjusting fluid;
A third actuator disposed at a portion corresponding to a left side surface of the ankle of the leg, connected to ends of the upper ankle belt and the lower ankle belt, and expands and contracts by adjusting fluid;
Assist mechanism comprising a fourth actuator disposed on a portion of the leg corresponding to the right side surface of the ankle and connected to ends of the ankle upper belt and the ankle lower belt and extending and contracting by adjusting fluid. A control device for a walking and falling prevention device that controls the movement of the user and prevents the user from falling when walking.
An input interface unit for acquiring user information of the user and walking information of the user's walking motion;
Based on the user information and the walking information acquired by the input interface unit, the first to fourth actuators are independently controlled to control the amount of fluid supplied to the left side of the hip joint or ankle. A rigidity control unit that controls to change the rigidity of the surface and the right side surface,
Control device for walking fall prevention device. First assist wear comprising a waist belt fixed to a user's waist and an above-knee belt fixed to an upper knee;
Second assist wear comprising an ankle upper belt fixed to the user's upper ankle and an ankle lower belt fixed to the lower ankle;
A first actuator disposed at a portion corresponding to a left side surface of a hip joint of at least one leg of the user, coupled to ends of the waist belt and the knee belt, and extending and contracting by adjusting fluid;
A second actuator disposed on a portion of the leg corresponding to the right side surface of the hip joint, connected to ends of the waist belt and the knee belt, and extending and contracting by adjusting fluid;
A third actuator disposed at a portion corresponding to a left side surface of the ankle of the leg, connected to ends of the upper ankle belt and the lower ankle belt, and expands and contracts by adjusting fluid;
Assist mechanism comprising a fourth actuator disposed on a portion of the leg corresponding to the right side surface of the ankle and connected to ends of the ankle upper belt and the ankle lower belt and extending and contracting by adjusting fluid. The control method of the walking and falling prevention device for controlling the movement of the user to prevent the user from falling during walking,
Acquiring the user information of the user himself and the walking information of the user's walking motion in the input interface unit,
Based on the user information and the walking information acquired by the input interface unit, the first to fourth actuators are independently controlled to control the amount of fluid supplied to the left side of the hip joint or ankle. The rigidity control unit controls the rigidity of the surface and the right side to be changed.
A method for controlling the walking fall prevention device. First assist wear comprising a waist belt fixed to a user's waist and an above-knee belt fixed to an upper knee;
Second assist wear comprising an ankle upper belt fixed to the user's upper ankle and an ankle lower belt fixed to the lower ankle;
A first actuator disposed at a portion corresponding to a left side surface of a hip joint of at least one leg of the user, coupled to ends of the waist belt and the knee belt, and extending and contracting by adjusting fluid;
A second actuator disposed on a portion of the leg corresponding to the right side surface of the hip joint, connected to ends of the waist belt and the knee belt, and extending and contracting by adjusting fluid;
A third actuator disposed at a portion corresponding to a left side surface of the ankle of the leg, connected to ends of the upper ankle belt and the lower ankle belt, and expands and contracts by adjusting fluid;
Assist mechanism comprising a fourth actuator disposed on a portion of the leg corresponding to the right side surface of the ankle and connected to ends of the ankle upper belt and the ankle lower belt and extending and contracting by adjusting fluid. Is a control program for a walking and tipping prevention device that prevents the user from falling when walking.
Computer
An information acquisition unit that acquires the user information of the user and the walking information of the walking motion of the user;
Based on the user information of the user himself / herself acquired by the information acquisition unit and the walking information of the user's walking motion, the first to fourth actuators are controlled independently from each other. Accordingly, a control program for the walking and tipping prevention device for causing the hip joint or ankle to function as a rigidity control unit that controls to change the rigidity of the left side surface and the right side surface of the ankle.

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